us.ihmc.euclid.referenceFrame.interfaces.FixedFrameVector4DBasics Maven / Gradle / Ivy
package us.ihmc.euclid.referenceFrame.interfaces;
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
import us.ihmc.euclid.referenceFrame.exceptions.ReferenceFrameMismatchException;
import us.ihmc.euclid.tuple4D.interfaces.Tuple4DReadOnly;
import us.ihmc.euclid.tuple4D.interfaces.Vector4DBasics;
/**
* Write and read interface for a 4D vector expressed in a constant reference frame, i.e. the
* reference frame of this object cannot be changed via this interface.
*
* In addition to representing a {@link Vector4DBasics}, a {@link ReferenceFrame} is associated to a
* {@code FixedFrameVector4DBasics}. This allows, for instance, to enforce, at runtime, that
* operations on vectors occur in the same coordinate system.
*
*
* Because a {@code FixedFrameVector4DBasics} extends {@code Vector4DBasics}, it is compatible with
* methods only requiring {@code Vector4DBasics}. However, these methods do NOT assert that the
* operation occur in the proper coordinate system. Use this feature carefully and always prefer
* using methods requiring {@code FixedFrameVector4DBasics}.
*
*/
public interface FixedFrameVector4DBasics extends FrameVector4DReadOnly, FixedFrameTuple4DBasics, Vector4DBasics
{
/**
* Sets this 4D frame vector to represent the given 3D frame vector
*
* this.xyz = frameVector3D
* this.s = 0.0
*
*
* @param frameVector3D the 3D frame vector used to set this 4D frame vector. Not modified.
* @throws ReferenceFrameMismatchException if {@code frameVector3D} is not expressed in the same
* frame as {@code this}.
*/
default void set(FrameVector3DReadOnly frameVector3D)
{
checkReferenceFrameMatch(frameVector3D);
Vector4DBasics.super.set(frameVector3D);
}
/**
* Sets this 4D frame vector to represent the given 3D frame point
*
* this.xyz = framePoint3D
* this.s = 1.0
*
*
* @param framePoint3D the 3D frame point used to set this 4D frame vector. Not modified.
* @throws ReferenceFrameMismatchException if {@code framePoint3D} is not expressed in the same
* frame as {@code this}.
*/
default void set(FramePoint3DReadOnly framePoint3D)
{
checkReferenceFrameMatch(framePoint3D);
Vector4DBasics.super.set(framePoint3D);
}
/**
* Sets this frame vector to {@code frameTuple4DReadOnly} and then scales it {@link #scale(double)}.
*
* @param scalar the scale factor to use on this tuple.
* @param frameTuple4DReadOnly the frame tuple to copy the values from. Not modified.
* @throws ReferenceFrameMismatchException if {@code frameTuple4DReadOnly} is not expressed in the
* same frame as {@code this}.
*/
default void setAndScale(double scalar, FrameTuple4DReadOnly frameTuple4DReadOnly)
{
checkReferenceFrameMatch(frameTuple4DReadOnly);
Vector4DBasics.super.setAndScale(scalar, frameTuple4DReadOnly);
}
/**
* Sets this frame vector to {@code frameTuple4DReadOnly} and then calls {@link #clipToMax(double)}.
*
* @param max the maximum value for each component of this tuple.
* @param frameTuple4DReadOnly the frame tuple to copy the values from. Not modified.
* @throws ReferenceFrameMismatchException if {@code frameTuple4DReadOnly} is not expressed in the
* same frame as {@code this}.
*/
default void setAndClipToMax(double max, FrameTuple4DReadOnly frameTuple4DReadOnly)
{
checkReferenceFrameMatch(frameTuple4DReadOnly);
Vector4DBasics.super.setAndClipToMax(max, frameTuple4DReadOnly);
}
/**
* Sets this frame vector to {@code frameTuple4DReadOnly} and then calls {@link #clipToMin(double)}.
*
* @param min the minimum value for each component of this tuple.
* @param frameTuple4DReadOnly the frame tuple to copy the values from. Not modified.
* @throws ReferenceFrameMismatchException if {@code frameTuple4DReadOnly} is not expressed in the
* same frame as {@code this}.
*/
default void setAndClipToMin(double min, FrameTuple4DReadOnly frameTuple4DReadOnly)
{
checkReferenceFrameMatch(frameTuple4DReadOnly);
Vector4DBasics.super.setAndClipToMin(min, frameTuple4DReadOnly);
}
/**
* Sets this vector to {@code frameTuple4DReadOnly} and then calls
* {@link #clipToMinMax(double, double)}.
*
* @param min the minimum value for each component of this tuple.
* @param max the maximum value for each component of this tuple.
* @param frameTuple4DReadOnly the frame tuple to copy the values from. Not modified.
* @throws ReferenceFrameMismatchException if {@code frameTuple4DReadOnly} is not expressed in the
* same frame as {@code this}.
*/
default void setAndClipToMinMax(double min, double max, FrameTuple4DReadOnly frameTuple4DReadOnly)
{
checkReferenceFrameMatch(frameTuple4DReadOnly);
Vector4DBasics.super.setAndClipToMinMax(min, max, frameTuple4DReadOnly);
}
/**
* Adds the given tuple to this vector.
*
* this = this + frameTuple4DReadOnly
*
*
* @param frameTuple4DReadOnly the tuple to add to this vector.
* @throws ReferenceFrameMismatchException if {@code frameTuple4DReadOnly} is not expressed in the
* same frame as {@code this}.
*/
default void add(FrameTuple4DReadOnly frameTuple4DReadOnly)
{
checkReferenceFrameMatch(frameTuple4DReadOnly);
Vector4DBasics.super.add(frameTuple4DReadOnly);
}
/**
* Sets this vector to the sum of the two given tuples.
*
* this = frameTuple1 + tuple2
*
*
* @param frameTuple1 the first tuple to sum. Not modified.
* @param tuple2 the second tuple to sum. Not modified.
* @throws ReferenceFrameMismatchException if {@code frameTuple1} is not expressed in the same frame
* as {@code this}.
*/
default void add(FrameTuple4DReadOnly frameTuple1, Tuple4DReadOnly tuple2)
{
checkReferenceFrameMatch(frameTuple1);
Vector4DBasics.super.add(frameTuple1, tuple2);
}
/**
* Sets this vector to the sum of the two given tuples.
*
* this = tuple1 + frameTuple2
*
*
* @param tuple1 the first tuple to sum. Not modified.
* @param frameTuple2 the second tuple to sum. Not modified.
* @throws ReferenceFrameMismatchException if {@code frameTuple2} is not expressed in the same frame
* as {@code this}.
*/
default void add(Tuple4DReadOnly tuple1, FrameTuple4DReadOnly frameTuple2)
{
checkReferenceFrameMatch(frameTuple2);
Vector4DBasics.super.add(tuple1, frameTuple2);
}
/**
* Sets this vector to the sum of the two given tuples.
*
* this = frameTuple1 + frameTuple2
*
*
* @param frameTuple1 the first tuple to sum. Not modified.
* @param frameTuple2 the second tuple to sum. Not modified.
* @throws ReferenceFrameMismatchException if either {@code frameTuple1} or {@code frameTuple2} is
* not expressed in the same frame as {@code this}.
*/
default void add(FrameTuple4DReadOnly frameTuple1, FrameTuple4DReadOnly frameTuple2)
{
checkReferenceFrameMatch(frameTuple1, frameTuple2);
Vector4DBasics.super.add(frameTuple1, frameTuple2);
}
/**
* Subtracts the given frame tuple from this frame vector.
*
* this = this - frameTuple4DReadOnly
*
*
* @param frameTuple4DReadOnly the frame tuple to subtract from this frame vector.
* @throws ReferenceFrameMismatchException if {@code frameTuple4DReadOnly} is not expressed in the
* same frame as {@code this}.
*/
default void sub(FrameTuple4DReadOnly frameTuple4DReadOnly)
{
checkReferenceFrameMatch(frameTuple4DReadOnly);
Vector4DBasics.super.sub(frameTuple4DReadOnly);
}
/**
* Sets this frame vector to the difference of the two given tuples.
*
* this = frameTuple1 - tuple2
*
*
* @param frameTuple1 the first frame tuple. Not modified.
* @param tuple2 the second frame tuple to subtract from {@code tuple1}. Not modified.
* @throws ReferenceFrameMismatchException if {@code frameTuple1} is not expressed in the same frame
* as {@code this}.
*/
default void sub(FrameTuple4DReadOnly frameTuple1, Tuple4DReadOnly tuple2)
{
checkReferenceFrameMatch(frameTuple1);
Vector4DBasics.super.sub(frameTuple1, tuple2);
}
/**
* Sets this frame vector to the difference of the two given tuples.
*
* this = tuple1 - frameTuple2
*
*
* @param tuple1 the first tuple. Not modified.
* @param frameTuple2 the second frame tuple to subtract from {@code tuple1}. Not modified.
* @throws ReferenceFrameMismatchException if {@code frameTuple2} is not expressed in the same frame
* as {@code this}.
*/
default void sub(Tuple4DReadOnly tuple1, FrameTuple4DReadOnly frameTuple2)
{
checkReferenceFrameMatch(frameTuple2);
Vector4DBasics.super.sub(tuple1, frameTuple2);
}
/**
* Sets this frame vector to the difference of the two given frame tuples.
*
* this = frameTuple1 - frameTuple2
*
*
* @param frameTuple1 the first frame tuple. Not modified.
* @param frameTuple2 the second frame tuple to subtract from {@code tuple1}. Not modified.
* @throws ReferenceFrameMismatchException if either {@code frameTuple1} or {@code frameTuple2} is
* not expressed in the same frame as {@code this}.
*/
default void sub(FrameTuple4DReadOnly frameTuple1, FrameTuple4DReadOnly frameTuple2)
{
checkReferenceFrameMatch(frameTuple1, frameTuple2);
Vector4DBasics.super.sub(frameTuple1, frameTuple2);
}
/**
* Scales this frame vector and adds {@code frameTuple4DReadOnly}.
*
* this = scalar * this + frameTuple4DReadOnly
*
*
* @param scalar the scale factor to use.
* @param frameTuple4DReadOnly the frame tuple to add to this. Not modified.
* @throws ReferenceFrameMismatchException if {@code frameTuple4DReadOnly} is not expressed in the
* same frame as {@code this}.
*/
default void scaleAdd(double scalar, FrameTuple4DReadOnly frameTuple4DReadOnly)
{
checkReferenceFrameMatch(frameTuple4DReadOnly);
Vector4DBasics.super.scaleAdd(scalar, frameTuple4DReadOnly);
}
/**
* Sets this frame vector to the sum of {@code frameTuple1} scaled and {@code tuple2}.
*
* this = scalar * frameTuple1 + tuple2
*
*
* @param scalar the scale factor to use on {@code frameTuple1}.
* @param frameTuple1 the first frame tuple of the sum. Not modified.
* @param tuple2 the second tuple of the sum. Not modified.
* @throws ReferenceFrameMismatchException if {@code frameTuple1} is not expressed in the same frame
* as {@code this}.
*/
default void scaleAdd(double scalar, FrameTuple4DReadOnly frameTuple1, Tuple4DReadOnly tuple2)
{
checkReferenceFrameMatch(frameTuple1);
Vector4DBasics.super.scaleAdd(scalar, frameTuple1, tuple2);
}
/**
* Sets this frame vector to the sum of {@code tuple1} scaled and {@code frameTuple2}.
*
* this = scalar * tuple1 + frameTuple2
*
*
* @param scalar the scale factor to use on {@code tuple1}.
* @param tuple1 the first tuple of the sum. Not modified.
* @param frameTuple2 the second frame tuple of the sum. Not modified.
* @throws ReferenceFrameMismatchException if {@code frameTuple2} is not expressed in the same frame
* as {@code this}.
*/
default void scaleAdd(double scalar, Tuple4DReadOnly tuple1, FrameTuple4DReadOnly frameTuple2)
{
checkReferenceFrameMatch(frameTuple2);
Vector4DBasics.super.scaleAdd(scalar, tuple1, frameTuple2);
}
/**
* Sets this frame vector to the sum of {@code frameTuple1} scaled and {@code frameTuple2}.
*
* this = scalar * frameTuple1 + frameTuple2
*
*
* @param scalar the scale factor to use on {@code frameTuple1}.
* @param frameTuple1 the first frame tuple of the sum. Not modified.
* @param frameTuple2 the second frame tuple of the sum. Not modified.
* @throws ReferenceFrameMismatchException if either {@code frameTuple1} or {@code frameTuple2} is
* not expressed in the same frame as {@code this}.
*/
default void scaleAdd(double scalar, FrameTuple4DReadOnly frameTuple1, FrameTuple4DReadOnly frameTuple2)
{
checkReferenceFrameMatch(frameTuple1, frameTuple2);
Vector4DBasics.super.scaleAdd(scalar, frameTuple1, frameTuple2);
}
/**
* Scales this frame vector and subtracts {@code frameTuple4DReadOnly}.
*
* this = scalar * this - frameTuple4DReadOnly
*
*
* @param scalar the scale factor to use.
* @param frameTuple4DReadOnly the frame tuple to subtract to this. Not modified.
* @throws ReferenceFrameMismatchException if {@code frameTuple4DReadOnly} is not expressed in the
* same frame as {@code this}.
*/
default void scaleSub(double scalar, FrameTuple4DReadOnly frameTuple4DReadOnly)
{
checkReferenceFrameMatch(frameTuple4DReadOnly);
Vector4DBasics.super.scaleSub(scalar, frameTuple4DReadOnly);
}
/**
* Sets this frame vector to the difference of {@code frameTuple1} scaled and {@code tuple2}.
*
* this = scalar * frameTuple1 - tuple2
*
*
* @param scalar the scale factor to use on {@code frameTuple1}.
* @param frameTuple1 the first frame tuple of the difference. Not modified.
* @param tuple2 the second tuple of the difference. Not modified.
* @throws ReferenceFrameMismatchException if {@code frameTuple1} is not expressed in the same frame
* as {@code this}.
*/
default void scaleSub(double scalar, FrameTuple4DReadOnly frameTuple1, Tuple4DReadOnly tuple2)
{
checkReferenceFrameMatch(frameTuple1);
Vector4DBasics.super.scaleSub(scalar, frameTuple1, tuple2);
}
/**
* Sets this frame vector to the difference of {@code tuple1} scaled and {@code frameTuple2}.
*
* this = scalar * tuple1 - frameTuple2
*
*
* @param scalar the scale factor to use on {@code tuple1}.
* @param tuple1 the first tuple of the difference. Not modified.
* @param frameTuple2 the second frame tuple of the difference. Not modified.
* @throws ReferenceFrameMismatchException if {@code frameTuple2} is not expressed in the same frame
* as {@code this}.
*/
default void scaleSub(double scalar, Tuple4DReadOnly tuple1, FrameTuple4DReadOnly frameTuple2)
{
checkReferenceFrameMatch(frameTuple2);
Vector4DBasics.super.scaleSub(scalar, tuple1, frameTuple2);
}
/**
* Sets this frame vector to the difference of {@code frameTuple1} scaled and {@code frameTuple2}.
*
* this = scalar * frameTuple1 - frameTuple2
*
*
* @param scalar the scale factor to use on {@code frameTuple1}.
* @param frameTuple1 the first frame tuple of the difference. Not modified.
* @param frameTuple2 the second frame tuple of the difference. Not modified.
* @throws ReferenceFrameMismatchException if either {@code frameTuple1} or {@code frameTuple2} is
* not expressed in the same frame as {@code this}.
*/
default void scaleSub(double scalar, FrameTuple4DReadOnly frameTuple1, FrameTuple4DReadOnly frameTuple2)
{
checkReferenceFrameMatch(frameTuple1, frameTuple2);
Vector4DBasics.super.scaleSub(scalar, frameTuple1, frameTuple2);
}
/**
* Performs a linear interpolation from this frame vector to {@code frameTuple4DReadOnly} given the
* percentage {@code alpha}.
*
* this = (1.0 - alpha) * this + alpha * frameTuple4DReadOnly
*
*
* @param frameTuple4DReadOnly the frame tuple used for the interpolation. Not modified.
* @param alpha the percentage used for the interpolation. A value of 0 will result
* in not modifying this vector, while a value of 1 is equivalent to
* setting this vector to {@code frameTuple4DReadOnly}.
* @throws ReferenceFrameMismatchException if {@code frameTuple4DReadOnly} is not expressed in the
* same frame as {@code this}.
*/
default void interpolate(FrameTuple4DReadOnly frameTuple4DReadOnly, double alpha)
{
checkReferenceFrameMatch(frameTuple4DReadOnly);
Vector4DBasics.super.interpolate(frameTuple4DReadOnly, alpha);
}
/**
* Performs a linear interpolation from {@code frameTuple1} to {@code tuple2} given the percentage
* {@code alpha}.
*
* this = (1.0 - alpha) * frameTuple1 + alpha * tuple2
*
*
* @param frameTuple1 the first tuple used in the interpolation. Not modified.
* @param tuple2 the second tuple used in the interpolation. Not modified.
* @param alpha the percentage to use for the interpolation. A value of 0 will result in
* setting this frame vector to {@code frameTuple1}, while a value of 1 is
* equivalent to setting this frame vector to {@code tuple2}.
* @throws ReferenceFrameMismatchException if {@code frameTuple1} is not expressed in the same frame
* as {@code this}.
*/
default void interpolate(FrameTuple4DReadOnly frameTuple1, Tuple4DReadOnly tuple2, double alpha)
{
checkReferenceFrameMatch(frameTuple1);
Vector4DBasics.super.interpolate(frameTuple1, tuple2, alpha);
}
/**
* Performs a linear interpolation from {@code tuple1} to {@code frameTuple2} given the percentage
* {@code alpha}.
*
* this = (1.0 - alpha) * tuple1 + alpha * frameTuple2
*
*
* @param tuple1 the first tuple used in the interpolation. Not modified.
* @param frameTuple2 the second tuple used in the interpolation. Not modified.
* @param alpha the percentage to use for the interpolation. A value of 0 will result in
* setting this frame vector to {@code tuple1}, while a value of 1 is equivalent
* to setting this frame vector to {@code frameTuple2}.
* @throws ReferenceFrameMismatchException if {@code frameTuple2} is not expressed in the same frame
* as {@code this}.
*/
default void interpolate(Tuple4DReadOnly tuple1, FrameTuple4DReadOnly frameTuple2, double alpha)
{
checkReferenceFrameMatch(frameTuple2);
Vector4DBasics.super.interpolate(tuple1, frameTuple2, alpha);
}
/**
* Performs a linear interpolation from {@code frameTuple1} to {@code frameTuple2} given the
* percentage {@code alpha}.
*
* this = (1.0 - alpha) * frameTuple1 + alpha * frameTuple2
*
*
* @param frameTuple1 the first tuple used in the interpolation. Not modified.
* @param frameTuple2 the second tuple used in the interpolation. Not modified.
* @param alpha the percentage to use for the interpolation. A value of 0 will result in
* setting this frame vector to {@code frameTuple1}, while a value of 1 is
* equivalent to setting this frame vector to {@code frameTuple2}.
* @throws ReferenceFrameMismatchException if either {@code frameTuple1} or {@code frameTuple2} is
* not expressed in the same frame as {@code this}.
*/
default void interpolate(FrameTuple4DReadOnly frameTuple1, FrameTuple4DReadOnly frameTuple2, double alpha)
{
checkReferenceFrameMatch(frameTuple1, frameTuple2);
Vector4DBasics.super.interpolate(frameTuple1, frameTuple2, alpha);
}
}
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